Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus

ABSTRACT

An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The present invention relates to an image transmission device andmethod, a transmitting device and method, a receiving device and method,and robot apparatus, and is suitably applicable to, for example, anentertainment robot.

[0003] 2. Description of the Related Art

[0004] There has been widely used various transmission systems such asInternational Telecommunication Union (ITU)-R REC656 as a transmissionsystem of an image in image transmission systems such as a Televisionbroadcasting system, a satellite broadcasting system, a Television-phonesystem, and a surveillance camera system.

[0005] In this case, these transmission systems, when image data ofmultiple channels are transmitted, requires to have multipletransmission lines or have some way for multiplexing each image data ofthe channels, since these transmission systems are formed on the premisethat one image is transmitted via one transmission line.

[0006] Here, the first method to have multiple transmission lines asabove is to assign separated transmission lines to each channel, and forexample, this method is adopted in a surveillance system where multiplesurveillance cameras and centers are wired and connected one-on-one.Furthermore, in this first method, format modification of the image dataflowing through each of the transmission lines is not required, andtherefore this first method has a benefit that existing systems can beused without system modification.

[0007] However, by this first method, it is necessary to wire andconnect a transmitting side and the corresponding receiving side foreach of the channels, and to prepare a new line for a new channel so asto increase the number of the channels, which makes the systemconstruction and modification difficult.

[0008] On the other hand, the second method to transmit multiplexedimage data of each channel through a single transmission line is widelyused in dedicated purpose systems such as the Television broadcastingsystem, the satellite broadcasting system, and the Television-phonesystem. There have been known two multiplexing systems, a frequencydivision multiplexing system and a time division multiplexing system.

[0009] In the frequency division multiplexing system of those twosystems, frequency bands used for transmission are setup for eachchannel respectively, and the signal of multiple channels having thosedifferent frequency bands are superposed and transmitted, where thereceiving side can receive any channel by selecting the frequency band.This system is adopted in the Television broadcasting system and soforth.

[0010] In the time division multiplexing system, the image data ofmultiple channels are quantized at a data level within a frame, aredivided, and are delivered, where at the receiving side, the image dataof each channel are restored by way of reallocating the image data foreach channel in order of arrival. This time division multiplexing systemis adopted in the satellite broadcasting system and so forth.

[0011] However, since these multiplexing systems require the formatmodification of the image data on the transmission line, the existingsystem, which is formed on the premise of transmitting and receiving theimage data through a single transmission line, cannot even restore theimage with these multiplexing systems. Therefore, when a user of suchexisting systems newly adopts the above-mentioned multiplexing systems,it is required to modify the whole system including receiving devices,cables, and so on.

[0012] Specifically in the time division multiplexing system, it isnecessary to have the transfer speed of the image data on thetransmission line high according to the number of the channels to bemultiplexed. The reason is that since, in the image data transmission,the reception of the last image data within one image at the receivingside means the completion of the transmission of one frame of the image,slow transfer speed of the transmission line for the number of thechannels to be multiplexed causes a large time-lag until the receptionof the image data, which causes a serious problem.

[0013] As described above, the proposed multiplexing systems cannot berealized by using the existing image transmission systems which isformed on the premise of transmitting and receiving of the image datathrough single transmission line, and have the difficulty to be realizedby the modification of the existing image transmission systems.

SUMMARY OF THE INVENTION

[0014] In view of the foregoing, an object of this invention is toprovide an image transmission device and method, a transmitting deviceand method, a receiving device and method, and robot apparatus capableof effectively transmitting the image data of multiple channels by usingan existing system which is formed on the premise of transmitting andreceiving of the image data through single transmission line.

[0015] The foregoing object and other objects of the invention have beenachieved by the provision of an image transmission device in whichtransmitting means is provided with multiplexing means for multiplexingthe image data of multiple channels to be input with switching thechannels by frame and image information adding means for adding theprescribed image information to the image data of each frame multiplexedby the multiplexing means, and receiving means is provided withanalyzing means for analyzing the image information added to the imagedata of each frame transmitted from the transmitting means and dividingmeans for dividing for each frame and outputting the multiplexed imagedata transmitted from the transmitting means to the correspondingchannels based on the analysis result of the analyzing means.

[0016] As a result, the image data of multiple channels can betransmitted via single transmission line without format modification, sothat an image transmission device capable of efficiently transmittingthe image data by using the existing system formed on the premise oftransmitting and receiving the image data through a single transmissionline can be realized.

[0017] Also, in an image transmission method of the present invention,the first step for the transmitting side's transmitting the image datais provided with a multiplexing step for multiplexing the image data ofmultiple channels to be input with switching the channels by frame andan image information adding step for adding the prescribed imageinformation to the image data of each frame multiplexed by themultiplexing step, and a second step of the receiving side's receivingthe image data is provided with an analyzing step for analyzing theimage information added to the image data of each frame transmitted fromthe transmitting side and a dividing step for dividing for each frameand outputting the multiplexed image data transmitted from thetransmitting side to the corresponding channels based on the analysisresult of the analyzing step.

[0018] As a result, the image data of multiple channels can betransmitted via single transmission line without format modification, sothat an image transmission method capable of efficiently transmittingthe image data by using the existing system formed on the premise oftransmitting and receiving the image data through a single transmissionline can be realized.

[0019] Furthermore, in the present invention, a transmitting device isprovided with multiplexing means for multiplexing the image data of themultiple channels to be input with switching the channels by frame andimage information adding means for adding the prescribed imageinformation to the image data of each frame multiplexed by themultiplexing means.

[0020] As a result, the image data of multiple channels can betransmitted via single transmission line without format modification, sothat a transmitting device capable of efficiently transmitting the imagedata by using the existing system formed on the premise of transmittingand receiving the image data through a single transmission line can berealized.

[0021] Furthermore, in this invention, a transmitting method is providedwith a multiplexing step for multiplexing the image data of the multiplechannels to be input with switching the channels by frame and an imageinformation adding step for adding the prescribed image information tothe image data of each frame multiplexed by the multiplexing step.

[0022] As a result, the image data of multiple channels can betransmitted via single transmission line without format modification, sothat a transmitting method capable of efficiently transmitting the imagedata by using the existing system formed on the premise of transmittingand receiving the image data through a single transmission line can berealized.

[0023] Furthermore, in this invention, a receiving device is providedwith analyzing means for analyzing the prescribed image informationadded to each frame of the image data multiplexed with switching thechannels by frame transmitted from the transmitting side and dividingmeans for dividing for each frame and outputting the multiplexed imagedata transmitted from the transmitting side to the correspondingchannels based on the analysis result of the analyzing means.

[0024] As a result, the image data of multiple channels transmitted fromthe transmitting side via single transmission line can be restored to beallocated to the original channels without format modification, so thata receiving device capable of efficiently transmitting the image data byusing the existing system formed on the premise of transmitting andreceiving the image data through a single transmission line can berealized.

[0025] In addition, in this invention, a receiving method is providedwith an analyzing step for analyzing the prescribed image informationadded to the image data of each frame multiplexed with switching thechannels by frame transmitted from the transmitting side and a dividingstep for dividing for each frame and outputting the multiplexed imagedata transmitted from the transmitting side to the correspondingchannels based on the analysis result of the analyzing step.

[0026] As a result, the image data of multiple channels transmitted fromthe transmitting side via single transmission line can be restored to beallocated to the original channels without format modification, so thata receiving method capable of efficiently transmitting the image data byusing the existing system formed on the premise of transmitting andreceiving the image data through a single transmission line can berealized.

[0027] Furthermore, in this invention, in robot apparatus comprised ofan image transmission device transmitting the image data of multiplechannels, transmitting means of the image transmission device isprovided with multiplexing means for multiplexing the image data ofmultiple channels to be input with switching the channels by frame andimage information adding means for adding the prescribed imageinformation to the image data of each frame multiplexed by themultiplexing means, and receiving means of the image transmission deviceis provided with analyzing means for analyzing the image informationadded to the image data of each frame transmitted from the transmittingmeans and dividing means for dividing for each frame and outputting themultiplexed image data transmitted from the transmitting means to thecorresponding channels based on the analysis result of the analyzingmeans.

[0028] As a result, the image data of multiple channels can betransmitted via single transmission line without format modification, sothat robot apparatus capable of efficiently transmitting the image databy using the existing system formed on the premise of transmitting andreceiving the image data through a single transmission line can berealized.

[0029] The nature, principle and utility of the invention will becomemore apparent from the following detailed description when read inconjunction with the accompanying drawings in which like parts aredesignated by like reference numerals or characters.

BRIEF DESCRIPTOIN OF THE DRAWINGS

[0030] In the accompanying drawings:

[0031]FIG. 1 is a dissected perspective view showing an externalconstruction of a robot in this embodiment;

[0032]FIG. 2 is a dissected perspective view showing an externalconstruction of a robot;

[0033]FIG. 3 is a schematic diagram explaining an external constructionof a robot;

[0034]FIG. 4 is a block diagram explaining an internal construction of arobot;

[0035]FIG. 5 is a block diagram explaining an internal construction of arobot;

[0036]FIG. 6 is a block diagram showing a whole construction of an imagetransmission system in this embodiment;

[0037]FIG. 7 is a block diagram showing a detailed construction of amultiplexing part of an image transmitting unit;

[0038]FIG. 8 is a conceptual diagram explaining an embedding processingof tag information corresponding to image data;

[0039]FIG. 9 is a conceptual diagram explaining an embedding processingof tag information corresponding to image data;

[0040]FIG. 10 is a conceptual diagram explaining output selectioncontrol information;

[0041]FIG. 11 is a conceptual diagram explaining output frequency;

[0042]FIG. 12 is a diagram explaining a decision method of an outputchannel based on output frequency;

[0043]FIG. 13 is a schematic diagram explaining a decision method of anoutput channel based on output frequency;

[0044]FIG. 14 is a flowchart of multiplexing processing procedure;

[0045]FIG. 15 is a block diagram showing a detailed construction of arestoring part of an image receiving unit; and

[0046]FIG. 16 is a flowchart of a restoration processing procedure.

DETAILED DESCRIPTION OF THE EMBODIMENT

[0047] Preferred embodiments of this invention will be described withreference to the accompanying drawings:

[0048] (1) Construction of a Robot in this Embodiment

[0049] In FIGS. 1 and 2, reference number 1 shows, as a whole, a bipedalwalking type robot in this embodiment. The robot comprises a head unit 3which is disposed on the upper part of a body unit 2, arm units 4A and4B of the same construction which are disposed on the left and right ofthe upper part of the body unit 2 respectively, and leg units 5A and 5Bof the same construction which are attached to prescribed positions onthe lower part of the body unit 2.

[0050] In the body unit 2, a frame 10 forming the upper part of the mainbody and a waste base 11 forming the lower part of the main body arejointed via a waste joint system 12, where the upper part of the mainbody can be independently rotated around a roll axis 13 and a pitch axis14 orthogonal each other shown in FIG. 3 by driving each of thecorresponding actuators A₁ and A₂ of the waste joint system 12 fixed tothe waste base 11 of the lower part of the main body.

[0051] Further, the head unit 3 is attached to the middle part of theupper surface of a shoulder base 15 fixed to the upper edge of the frame10 via a neck joint system 16, where the head unit 3 can beindependently rotated around a pitch axis 17 and a yawing axis 18orthogonal each other shown in FIG. 3 by driving each of thecorresponding actuators A₃ and A₄ of the neck joint system 16.

[0052] Furthermore, the arm units 4A and 4B are attached to the rightand left of the shoulder base 15 via a shoulder joint system 19respectively, where the arm units 4A and 4B can be independently rotatedaround a pitch axis 20 and a roll axis 21 orthogonal each other shown inFIG. 3 by driving each of the corresponding actuators A₅ and A₆ of theshoulder joint system 19.

[0053] In this case, each of the arm units 4A and 4B is comprised of anactuator A₈ forming a fore arm part joined, via an elbow joint system22, to an output axis of an actuator A₇ forming an upper arm part, and ahand part 23 attached to the edge of the fore arm part.

[0054] In each of the arm units 4A and 4B, the upper arm part can berotated around a yawing axis 24 shown in FIG. 3 by driving the actuatorA₇, and the fore arm part can be rotated around a pitch axis 25 shown inFIG. 3 by driving the actuator A₈.

[0055] Each of the leg units 5A and 5B is attached to the waste base 11of the lower part of the main body via a thigh joint system 26respectively, where each of the leg units 5A and 5B can be independentlyrotated around a yawing axis 27, a roll axis 28, and a pitch axis 29orthogonal each other shown in FIG. 3 by driving each of thecorresponding actuators A₉-A₁₁ of the thigh joint system 26.

[0056] In this case, each of the leg units 5A and 5B is comprised of aframe 32 forming a lower thigh part joined, via a knee joint system 31,to the lower edge of a frame 30 forming a thigh part, and a foot part 34joined to the lower edge of the frame 32 via an ankle joint system 33.

[0057] Accordingly, in each of the leg units 5A and 5B, the lower thighpart can be rotated around a pitch axis 35 shown in FIG. 3 by driving anactuator A₁₂ forming the knee joint system 31, and the foot part 34 canbe independently rotated around a pitch axis 36 and a roll axis 37orthogonal each other shown in FIG. 3 by driving actuators A₁₃ and A₁₄of the ankle joint system 33.

[0058] On the other hand, on the back side of the waste base 11 formingthe lower part of the main body of the body unit 2, as shown in FIG. 4,a control unit 42 is disposed, in which a main control section 40 forcontrolling the whole operation of the robot 1, a peripheral circuit 41such as a power supply circuit and a communication circuit, and abattery 45 (FIG. 5) are stored in a box.

[0059] This control unit 42 is connected to each of sub control sections43A-43D disposed inside each of the construction units (the body unit 2,the head unit 3, each of the arm units 4A and 4B, and each of the legunits 5A and 5B) respectively so that this control unit 42 can providenecessary power supply voltage to these sub control sections 43A-43D andcan communicate with these sub control sections 43A-43D.

[0060] Furthermore, each of the sub control sections 43A-43D isconnected to the actuators A₁-A₁₄ inside the corresponding constructionunits respectively so that the actuators A₁-A₁₄ inside the constructionunits can be driven to the designated condition based on the varioustypes of control commands given from the main control section 40.

[0061] Still further, in the head unit 3, as shown in FIG. 5, anexternal sensor section 53 comprised of a pair of Charge Coupled Device(CCD) cameras 50A and 50B functioning as “eyes” of the robot 1 for lefteye and right eye respectively, a microphone 52 functioning as “ears”,and a speaker 54 functioning as “a mouth” is disposed at a prescribedposition, and inside the control unit 42, an internal sensor section 57comprised of a battery sensor 55, an acceleration sensor 56, and soforth is disposed.

[0062] The outputs of each of the CCD cameras 50A and 50B of theexternal sensor section 53 are multiplexed at an image transmitting unit51, and are provided to the main control section 40 as imagetransmission signals S1A, while the microphone 52 collects variouscommand sounds such as “walk”, “lie down” or “chase after the ball” tobe given from the user as sound inputs, and delivers the resultant soundsignals S1B to the main control section 40.

[0063] Furthermore, the battery sensor 55 of the internal sensor section57 detects a remaining amount of the battery 45 at a prescribed period,and delivers the detected result to the main control section 40 as abattery remaining amount detecting signal S2A, while the accelerationsensor 56 detects the acceleration of the three-axis direction (x-axis,y-axis and z-axis) at a prescribed period, and delivers the detectedresult to the main control section 40 as an acceleration detectingsignal S2B.

[0064] The main control section 40 judges the surrounding and theinternal conditions of the robot 1, and the existence or non-existenceof the commands and the approaches from the user based on externalsensor signals S1 such as the image transmission signal S1A and thesound signal S1B provided from the image transmitting unit 51 and themicrophone 52 of the external sensor section 53 respectively, andinternal sensor signals S2 such as the battery remaining amountdetecting signal S2A and the acceleration detecting signal S2B providedfrom the battery sensor 55 and the acceleration sensor 56 of theinternal sensor section 57.

[0065] And the main control section 40 decides the following performancebased on the judged result, a control program pre-stored in an internalmemory 40A, and the loaded various types of control parameters, thendelivers the control command based on the decision result to thecorresponding sub control sections 43A-43D. As a result, based on thecontrol command, under the control of the sub control sections 43A-43D,the corresponding actuators A₁-A₁₄ are driven, and therefore theperformance such as having the head unit 3 swing up and down, right andleft, having the arm units 4A and 4B put up, and walking, can berealized by the robot 1.

[0066] Furthermore, the main control section 40 provides a prescribedsound signal S3 to the speaker 54 as required, so that the sound basedon the sound signal S3 is output.

[0067] In this manner, the robot 1 can perform autonomously based on thesurrounding and the internal conditions, and the existence ornon-existence of the commands and the approaches from the user.

[0068] (2) Construction of an Image Transmission System 60 in the Robot1

[0069] (2-1) Whole Construction of an Image Transmission System 60 inthe Robot 1

[0070] Next explanation will be made about a transmission system of theimage data (hereinafter referred to as an image transmission system) inthe robot 1.

[0071]FIG. 6 is showing an image transmission system 60 adopted in therobot 1 which is comprised of the above-mentioned image transmittingunit 51 disposed inside the head unit 3 and an image receiving unit 61disposed inside the main control section 40.

[0072] In the image transmitting unit 51, image data D1A and D1B outputfrom each of the CCD cameras 50A and 50B for the left eye and the righteye respectively and image Data D1C and D1D of a specific image forvarious types of signal processing such as color detecting processing,motion detecting processing, or edge detecting processing generated at aplurality of image processing parts 62A and 62B based on the image dataD1A and D1B are multiplexed by a frame with skipping unnecessary imageat a multiplexing part 63.

[0073] At the same time, the multiplexing part 63 adds tag informationto be used when dividing the image data D1A-D1D according to theoriginal channels at the image receiving unit 61 to the image dataD1A-D1D equivalent to the multiplexed each one frame, and delivers soobtained tag information adding multiplexing data D2 to a transmittingpart 64.

[0074] Then, the transmitting part 64 converts the provided taginformation adding multiplexing data D2 to the image transmission signalS1A of a prescribed format, for example, ITU-R REC656, and delivers thesignal to the image receiving unit 61 via wiring 65 which is a singletransmission line.

[0075] On the other hand, in the image receiving unit 61, the format ofthe provided image transmission signal S1A is converted to a taginformation adding multiplexing data D3 of the original format at areceiving part 66, and is delivered to a restoring part 67.

[0076] Furthermore, in the restoring part 67, tag information isextracted from the tag information adding multiplexing data D3, andbased on the tag information, one frame of the image data D4A-D4Dincluded in the tag information adding multiplexing data D3 is allocatedto the corresponding channel. Then the image data D4A-D4D allocated toeach channel are separately delivered to corresponding image processingparts 68A-68D in the main control section 40.

[0077] Then, the image processing parts 68A-68D, based on the providedimage data D4A-D4D, execute processing such as color detectingprocessing, motion detecting processing, or edge detecting processingdisclosed in H11-129274. The various types of detected processingresults are provided to an upper controller of a subsequent stage, andbased on these various types of the detected processing results, varioustypes of control processing for above-mentioned autonomous performanceare conducted.

[0078] (2-2) Detailed Construction of the Multiplexing Part 63 at theImage Transmitting Unit 51

[0079] (2-2-1) Detailed Construction of the Multiplexing Part 63

[0080] Herein, FIG. 7 is showing the detailed construction of themultiplexing part 63 at the above-mentioned image transmitting unit 51.As is obvious from this FIG. 7, the multiplexing part 63 is comprised ofa selector 70, a multiplexer 71, a tag encoder 72, and a controller 73.

[0081] The selector 70 has a plurality of input ports 70 _(IN1)-70_(INm) and a plurality of output ports 70 _(OUT1)-70 _(OUTn), and underthe control of the controller 73, connects the designated input ports 70_(IN1)-70 _(INm) and the output ports 70 _(OUT1)-70 _(OUTn).

[0082] Then, the selector 70 inputs the image data D1A-D1 m for eachchannel provided from the CCD cameras 50A and 50B and image processingparts 62A and 62B via the input ports 70 _(IN1)-70 _(INm) respectively,and using one frame of frame memory disposed inside (not shown inFigs.), delivers these image data D1A-D1 m to the multiplexer 71 via thecorresponding output ports 70 _(OUT1)-70 _(OUTn) with synchronizing witha vertical synchronizing signal S_(VSINK1) as a standard signal in theimage transmitting unit 51 provided from one of the CCD cameras 50A and50B.

[0083] The multiplexer 71 has a plurality of input ports 71 _(IN1)-71_(INn) arranged corresponding to each of the output ports 70 _(OUT1)-70_(OUTn) of the selector 70, a plurality of AND circuits 80 ₁-80 _(n)arranged corresponding to these input ports 71 _(IN1)-71 _(INn), and amemory 81 comprising a plurality of one bit memory domain 81 ₁-81 _(n)corresponding to these AND circuits 80 ₁-80 _(n) (hereinafter referredto as a switch memory). Each of these input ports 71 _(IN1)-71 _(INn) isconnected to the corresponding first signal input terminal of the ANDcircuits 80 ₁-80 _(n) while each of the second signal input terminal isconnected to the corresponding one bit memory domain 81 ₁-81 _(n) of theswitch memory 81.

[0084] In this case, a flag is stored in one of the one bit memorydomain 81 ₁-81 _(n) of the switch memory 81 of the multiplexer 71 by thecontroller 73. This flag is updated at every arrival of a fallingperiod, in which the image data of the vertical synchronizing signalS_(VSINK1) is not transmitted within the falling period, and is storedin only one of the memory domain 81 ₁-81 _(n) corresponding to thechannel decided to be output within the next arising period of thevertical synchronizing signal S_(VSINK1) by the controller 73.

[0085] Accordingly, in the multiplexer 71, during the rising period ofthe vertical synchronizing signal S_(VSINK1), only the AND circuits 80₁-80 _(n) corresponding to the one bit memory domain 81 ₁-81 _(n), inwhich the flag in the switch memory 81 is stored, validly operate,therefore, only one frame of the image data D1A-D1 m input via the inputports 71 _(IN1)-71 _(INn) connected to the AND circuits 80 ₁-80 _(n) isdelivered, via the AND circuits 80 ₁-80 _(n) and the output port 71_(OUT) sequentially, to the tag encoder 72 as multiplexing data D10.

[0086] At this time, the tag encoder 72 is, as the above-mentioned taginformation D11, provided in advance with the port number of the outputports 70 _(OUT1)-70 _(OUTn) of the selector 70 to which one frame of theimage data D1A-D1 m is output (hereinafter referred to as an output portnumber), the port number of the input ports 7 _(IN1)-70 _(INm) of theselector 70 connected to the output ports 70 _(OUT1)-70 _(OUTn) at thistime (hereinafter referred to as an input port number), and the framenumber of the frame.

[0087] Accordingly, the tag encoder 72 embeds the tag information D11 byreplacing the pixel data of four continuing pixels at the bottom of theleft edge in the image as shown in FIGS. 8 and 9 with each data of theoutput port number, input port number, frame number, and reserved dataprovided as above-mentioned tag information D11 starting from the leftand consequently, and delivers so obtained above-mentioned taginformation adding multiplexing data D2 (FIG. 6) to the transmittingpart 64 (FIG. 64).

[0088] On the other hand, the controller 73 comprises, as is obviousfrom FIG. 7, a plurality of counters C1-Cn arranged corresponding toeach of the output ports 70 _(OUT1)-70 _(OUTn) of the selector 70, animage select register 90 for memory holding after-mentioned outputselection control information D12, a control active flag register 91 forstoring a flag indicating the update of the output selection controlinformation D12 (hereinafter referred to as a control active flag), anoutput selection flag register 92 comprising one bit memory domain 92₁-92 _(n) corresponding to each of the one bit memory domain 81 ₁-81_(n) of the switch memory 81 of the multiplexer 71, and a taginformation storing register 93 for temporally storing the taginformation D11.

[0089] In this case, the controller 73 is previously provided from theupper controller with the output selection control information D12 inwhich the port number of the input ports 70 _(IN1)-70 _(INm) of theselector 70 to which each of the output ports 70 _(OUT1)-70 _(OUTn) isexpected to be connected, and the output frequency at which the imagedata of each channel connected to each of the output ports 70 _(OUT1)-70_(OUTn) of the selector 70 is output (output frequency) are prescribed.Accordingly, the controller 73 keeps the output selection controlinformation D12 as a table shown in FIG. 10 in the image select register90.

[0090] Then, the controller 73, at the initial stage, based on theoutput selection control information D12 kept in the image selectregister 90, controls the selector 70, so that corresponding each of theoutput ports 70 _(OUT1)-70 _(OUTn) and the input ports 70 _(IN1)-70_(INm) of the selector 70 can be connected.

[0091] Furthermore, after above, the controller 73 decides the channelto be output within the next rising period of the vertical synchronizingsignal S_(VSINK1) (in practice, the output ports 70 _(OUT1)-70 _(OUTn)of the selector 70 connected to this channel) at every arrival of thefalling period of the above-mentioned vertical synchronizing signalS_(VSINK1) provided from the CCD cameras 50A and 50B (FIG. 6) so thatthe output frequency of each channel given as above-mentioned outputselection control information D12 is matched.

[0092] Then, the controller 73 adds the above-mentioned tag informationD11 to one frame of the image data D1A-D1 m provided within the nextrising period of the vertical synchronizing signal S_(VSINK1) to the tagencoder 72 by providing the tag information D11 based on the decisionresult to the tag encoder 72 via the tag information storing register 93within the present falling period of the vertical synchronizing signalS_(VSINK1).

[0093] In addition, the controller 73 temporally keeps the flag based onthe so decided result in the corresponding one bit memory domain 92 ₁-92_(n) in the output selection flag register 92 during the present fallingperiod of the vertical synchronizing signal S_(VSINK1), as well asoutputs so decided one frame of the image data D1A-D1 m of the channelduring the rising period of the vertical synchronizing signal S_(VSINK1)from the multiplexer 71 by storing the flag in the one bit memory domain81 ₁-81 _(n) corresponding to the switch memory 81 of the multiplexer 71based on the flag immediately after the start-up of the next risingperiod of the vertical synchronizing signal S_(VSINK1).

[0094] Furthermore, the controller 73 stores the control active flag inthe control active flag register 91 as well as updates the outputelection control information D12 kept in the image select register 90 toa new output selection control information D12 when a command to updatethe output selection control information D12 and a new output selectioncontrol information D12 corresponding to this command are provided fromthe upper controller.

[0095] Then, the controller 73 is configured to connect the each of thedesignated input ports 70 _(IN1)-70 _(INm) and the output ports 70_(OUT1)-70 _(OUTn) as well as to initialize each of the counters C1-Cnbased on the new output selection control information D12 and to executethe same control processing based on the output selection controlinformation D12 as described above by controlling the selector 70 basedon the new output selection control information D12 stored in the imageselect register 90 corresponding to that the control active flag isstored in the control active flag register 91 within the falling periodof the vertical synchronizing signal S_(VSINK1) right after above.

[0096] (2-2-2) Channel Decision Method Based on the Output Frequency

[0097] Next explanation will be made about the output frequencyprovided, as described above, to the controller 73 from the uppercontroller as the output selection control information D12 and a channeldecision method for deciding the channel to be output next based on theoutput frequency.

[0098] The output frequency “N” means, for example as shown in FIG. 11,the output ratio at which one frame of the image of the channelconnected to the output port to which output frequency “N” is assignedis output while N frames of image data of the channel connected to theprescribed output port which is the standard of the selector 70 (in thisembodiment, output port 70 _(OUT1) with port number “1”) is input.

[0099] For example, the output frequency “1” of the channel connected tothe output port with port number “2” means that one frame of the imagedata D1A-D1 m of the channel connected to the output port 70 _(OUT2)with port number “2” is required to be output while one frame of theimage data D1A-D1 m of the channel connected to the output port 70_(OUT1) with port number “1” is input. Therefore, as shown in FIG. 11,in case that there are only two output ports 70 _(OUT1) and 70 _(OUT2)with port numbers “1” and “2” respectively, under this output frequency,the image data D1A-D1 m of the channel connected to the output port 70_(OUT2) with port number “2” are output at all times (the case of N=1 inFIG. 11).

[0100] Further, the output frequency “4” of the channel connected to theoutput port 70 _(OUT2) with port number “2” means that one frame of theimage data D1A-D1 m of the channel connected to the output port 70_(OUT2) with port number “2” is required to be output while four framesof the image data D1A-D1 m of the channel connected to the output port70 _(OUT1) with port number “1” are input. Therefore, in this example ofFIG. 11, while four frames of the image data D1A-D1 m of the channelconnected to the output port 70 _(OUT1) with port number 1 are input,one frame of the image data D1A-D1 m of the channel connected to theoutput port 70 _(OUT2) with port number “2” is output and the image dataD1A-D1 m of the channel connected to the output port 70 _(OUT1) withport number “1” is output as for the rest three frames (the case of N=4in FIG. 11).

[0101] When “0” is assigned as the output frequency, the image dataD1A-D1 m of the channel connected to the output ports 70 _(OUT1)-70_(OUTn) to which this output frequency is assigned are not output.Therefore, for example in FIG. 11, only the image data D1A-D1 m of thechannel connected to the output port 70 _(OUT1) with port number “1” areoutput (the case N=0 in FIG. 11).

[0102] The controller 73 controls the multiplexer 71 so that the imagedata D1A-D1 m of each of the channels connected to each of the outputports 70 _(OUT1)-70 _(OUTn) respectively are output in one frame at atime with the designated output frequency respectively based on theoutput frequency for each of the output ports 70 _(OUT1)-70 _(OUTn) ofthe selector 70 kept in the image select register 90 as the outputselection control information D12.

[0103] In specifically, the controller 73, at first, sets the value ofthe output frequency corresponding to each of the output ports 70_(OUT1)-70 _(OUTn) of the selector 70 kept in the image select register90 as the initial value of each of the counters C1-Cn corresponding tothe output ports 70 _(OUT1)-70 _(OUTn) respectively. For example asshown in FIG. 12, when there are four output ports 70 _(OUT1)-70 _(OUT4)in the selector 70 and the output frequencies are “3”, “2”, and “5”corresponding to the output ports 70 _(OUT2)-70 _(OUT4) with portnumbers “2”, “3”, and “4” respectively, these values are set as theinitial values of the counters C2-C4 corresponding to the output ports70 _(OUT2)-70 _(OUT4) respectively.

[0104] Then the controller 73 monitors the vertical synchronizing signalS_(VSINK1) , and reads the count values of the counters C2-C4 at everyarrival of the falling period of the vertical synchronizing signalS_(VSINK1). When the count value “1” cannot be found in the countersC2-Cn corresponding to the output ports 70 _(OUT2)-70 _(OUTn) with portnumber after “2” of the selector 70, the controller 73 decides thechannel connected to the output port 70 _(OUT1) with port number “1” asthe channel to which the image data D1A-D1 m is output next, as well asmakes one by one decrements of the count values of each of the countersC2-Cn corresponding to the output ports 70 _(OUT2)-70 _(OUTn) with portnumber after “2”.

[0105] For example in FIG. 12, in the initial condition, as the countvalues of each of the counters C2-C4 corresponding to the output ports70 _(OUT2)-70 _(OUT4) with port number “2”, “3”, and “4” of the selector70 are “3”, “2”, and “5” respectively, the channel connected to theoutput port 70 _(OUT1) with port number “1” is decided as the channel towhich the image data D1A-D1 m is output next, and the count values ofthe counters C2-C4 corresponding to the output ports 70 _(OUT2)-70_(OUT4) with port numbers “2”, “3”, and “4” are made one by onedecrements to be updated to “2”, “1”, and “4” respectively.

[0106] On the other hand, when count value “1” is found in the countersC2-Cn corresponding to the output ports 70 _(OUT2)-70 _(OUTn) with portnumber after “2” of the selector 70, the controller 73 decides thechannel connected to the output ports 70 _(OUT2)-70 _(OUTn) of theselector 70 corresponding to the counters C2-Cn as the channel to whichthe image data D1A-D1 m is output next as well as resets the countvalues of the counters C2-Cn to the initial values.

[0107] For example in FIG. 12, in the channel deciding processing of thesecond frame, as the count values of the counters C2-C4 corresponding tothe output ports 70 _(OUT2)-70 _(OUT4) with port numbers “2”, “3”, and“4” of the selector 70 are “2”, “1”, and “4”, the channel connected tothe output port 70 _(OUT3) with port number “3” of the selector 70 isdecided as the channel to which the image data D1A-D1 m is output next,and the count value of the counter C3 corresponding to this channel isset to the initial value “2”.

[0108] Here, when the controller 73 reads each count value of thecounters C2-Cn after the arrival of the falling period of the verticalsynchronizing signal S_(VSINK1), the controller 73 reads the countersC2-Cn corresponding to the output ports 70 _(OUT2)-70 _(OUTn) withsmaller port number of the selector 70 sequentially from the smallestport number. Therefore, for example the case of deciding the third frameof the channel having multiple counters C2-Cn with count value “1” inFIG. 12, the channel connected to the output ports 70 _(OUT2)-70 _(OUTn)with the smallest port number of the selector 70 among the channelscorresponding to these counters C2-Cn is decided as the channel to whichthe image data D1A-D1 m is output next.

[0109] And the controller 73 sequentially decides the channel to whichone frame of the image data D1A-D1 m is output, controls the multiplexer71 based on the decision result as mentioned above, and provides the taginformation D11 based on the decision result to the tag encoder 72 byconducting above-mentioned channel deciding processing at every arrivalof the falling period of the vertical synchronizing signal S_(VSINK1).

[0110]FIG. 13 is a signal diagram showing above-mentioned channeldeciding processing at a signal level.

[0111] (2-2-3) Multiplexing Processing Procedure

[0112] Here, a series of the procedures of the controller 73 areconducted by following the multiplexing processing procedure RT1 shownin FIG. 14.

[0113] In actually, the controller 73, in the initial condition,controls the selector 70 base on the output selection controlinformation D12 previously provided from the upper controller, thenstarts the multiplexing processing procedure RT1 at step SP0 afterconnecting the input ports 70 _(IN1)-70 _(INm) and the output ports 70_(OUT2)-70 _(OUTn), monitors the provided vertical synchronizing signalS_(VSINK1) at the following step SP1, and waits for the detection of arising edge or a falling edge of the vertical synchronizing signalS_(VSINK1).

[0114] The controller 73 gets a positive result at step SP1 by thearrival of the rising or falling edge of the vertical synchronizingsignal S_(VSINK1), then goes to step SP2 to judge whether the edge is arising edge or not.

[0115] Then, the controller 73 goes to step SP3 with a negative resultat this step SP2, then decides the channel to be output during thecoming rising period of the vertical synchronizing signal S_(VSINK1) atfollowing steps SP3-SP11 as well as executes various types of processingbased on the decision result.

[0116] In other words, the controller 73 firstly judges at step SP3whether the control active flag is stored in the control active flagregister 91 (FIG. 7) or not, then goes to step SP7 with a negativeresult.

[0117] On the other hand, the controller 73 goes to step SP4 with apositive result at this step SP3, then controls the selector 70 based ona new output selection control information D12 stored in the imageselect register 90 (FIG. 7), then reconnects designated each of theinput ports 70 _(IN1)-70 _(INm) and the output ports 70 _(OUT1)-70_(OUTn) of the selector 70.

[0118] Following above, the controller 73 goes to step SP5 and resetsthe control active flag stored in the control active flag register 91and goes to step SP6 and initializes the count value of each of thecounters C1-Cn (FIG. 7) base on the new output selection controlinformation D12, then goes to step SP7.

[0119] Then, the controller 73 reads each of the present counters C2-Cnin order at SP7, and judges whether count value “1” is in the countersC2-Cn at the following step SP8.

[0120] The controller 73 goes to step SP9 with a positive result at stepSP8, decides the channel to be output during the coming rising period ofvertical synchronizing signal S_(VSINK1) corresponding to the countersC2-Cn, and stores the flag in the one bit memory domain 92 ₁-92 _(n) ofthe output selection flag register 92 (FIG. 7) corresponding to thecounters C2-Cn based on the decision result as well as resets the countvalues of the counters C2-Cn to the initial values, then goes to stepSP11.

[0121] On the other hand, the controller 73 goes to step SP10 with anegative result at step SP9, decides the channel connected to the outputport 70 _(OUT1) with port number “1” of the selector 70 as the channelto be output during the coming rising period of the verticalsynchronizing signal S_(VSINK1), and stores the flag in the one bitmemory domain 92 ₁-92 _(n) of the output selection flag register 92(FIG. 7) corresponding to the channel based on the decision result aswell as makes one by one decrements of the count values of the countersC2-Cn except for the counter C1 corresponding to the channel, then goesto step SP11.

[0122] Following above, the controller 73 provides this tag informationD11 (FIG. 7) based on the decision result to the tag encoder 72 via thetag information storing register 93 (FIG. 7). Then the controller 73goes back to step SP1 and waits for the detection of the next risingedge or the falling edge of the vertical synchronizing signalS_(VSINK1).

[0123] When the controller 73 detects the rising edge of the verticalsynchronizing signal S_(VSINK1) at step SP1, the controller 73 goes tostep SP12 through step SP2 and stores the flag in the corresponding onebit memory domain 81 ₁-81 _(n) in the switch memory 81 (FIG. 7) of themultiplexer 71 based on the flag stored in one of the one bit memorydomain 92 ₁-92 _(n) in the output selection flag register 92.

[0124] Furthermore, the controller 73 resets the output selection flagregister 92 at the following step SP13, then goes back to step SP1 andrepeats the processing same as above-mentioned.

[0125] As described above, the controller 73 controls the multiplexer 71and the tag encoder 72 based on the output selection control informationD12 provided from the upper controller, so that the image data D1A-D1 mof each channel are multiplexed at the designated output frequency byframe.

[0126] (2-3) Detailed Construction of the Restoring Part 67 at the ImageReceiving Unit 61 (FIG. 6)

[0127] (2-3-1) Detailed Construction of the Restoring Part 67 in theImage Receiving Unit 61

[0128]FIG. 15 shows the detailed construction of the restoring part 67in the image receiving unit 61 (FIG. 6). As is obvious from this FIG.15, the restoring part 67 is comprised of a tag reader 100, ademultiplexer 101, a selector 102, and a controller 103.

[0129] The tag reader 100 has one frame of the frame memory (not shownin Figs.), and buffers the tag information adding multiplexing data D3provided from the receiving part 66 (FIG. 6) by frame as well as readsand delivers the above-mentioned tag information D11 (FIG. 7) added tothe buffered one frame of the tag information adding multiplexing dataD3 (one frame of the image data D1A-D1 m (FIG. 7)) to the controller103.

[0130] The tag reader 100 delivers one frame of the tag informationadding multiplexing data D3 (one frame of the image data D1A-D1 m), fromwhich this tag information D11 is read out, to the demultiplexer 101 atevery arrival of the rising period of the vertical synchronizing signalS_(VSINK1) provided also to the image receiving unit 61 fromabove-mentioned CCD cameras 50A and 50B.

[0131] The demultiplexer 101 has a plurality of output ports 101_(OUT1)-101 _(OUTn) disposed corresponding to each of the input ports 71_(IN1)-71 _(INn) of the multiplexer 71 (FIG. 7) of the imagetransmitting unit 51 (FIG. 6), a plurality of AND circuits 110 ₁-110_(n) disposed corresponding to each of the output ports 101 _(OUT1)-101_(OUTn), and a switch memory 111 in which a plurality of one bit memorydomain 111 ₁-111 _(n) are disposed corresponding to each of these ANDcircuits 110 ₁-110 _(n). Each of these output ports 101 _(OUT1)-101_(OUTn) of the demultiplexer 101 is connected to the correspondingsignal output terminal of the AND circuits 110 ₁-110 _(n) while thefirst signal input terminal of each of these AND circuits 110 ₁-110 _(n)is connected to the corresponding one bit memory domain 111 ₁-111 _(n)in the switch memory 111, and the second signal input terminal isconnected to the input port 101 _(IN) of the demultiplexer 101respectively.

[0132] In this case, the flag is stored in one of the one bit memorydomain 111 ₁-111 _(n) of the switch memory 111 of the demultiplexer 101by the controller 103. This flag is updated at every arrival of therising period of the vertical synchronizing signal S_(VSINK1) for thefirst timing, is stored only in the one bit memory domain 111 ₁-111 _(n)connected to one of the output ports 101 _(OUT1)-101 _(OUTn) decided asthe output ports 101 _(OUT1)-101 _(OUTn) of the demultiplexer 101 towhich the controller 103 is expected to output next image data D1A-D1 mduring the falling period of the last vertical synchronizing signalS_(VSINK1).

[0133] In this manner, in the demultiplexer 101 during the rising periodof the vertical synchronizing signal S_(VSINK1), only the AND circuits110 ₁-110 _(n) connected to one bit memory domain 111 ₁-111 _(n) inwhich the flag of the switch memory 111 is stored validly operate, andone frame of the tag information adding multiplexing data D3 (one frameof the image data D1A-D1 m) provided from the tag reader 100 isdelivered to the selector 102 only via the validly operating ANDcircuits 110 ₁-110 _(n) and the output ports 101 _(OUT1)-101 _(OUTn)connected to the validly operating AND circuits 110 ₁-110 _(n).

[0134] The selector 102 has a plurality of input ports 102 _(IN1)-102_(INn) disposed corresponding to each of the output ports 70 _(OUT1)-70_(OUTn) (FIG. 6) of the selector 70 (FIG. 6) of the image transmittingunit 51 (FIG. 5) and a plurality of the output ports 102 _(OUT1)-102_(OUTm) disposed corresponding to each of the input ports 70 _(IN1)-70_(INm) of the selector 70, and each of these input ports 102 _(IN1)-102_(INn) is connected to the corresponding output ports 101 _(OUT1)-101_(OUTn) of the demultiplexer 101.

[0135] And the selector 102, in the initial condition, connects thedesignated input ports 102 _(IN1)-102 _(INn) and the output ports 102_(OUT1)-102 _(OUTm) under the control of the controller 103.

[0136] Accordingly, the selector 102 during the rising period of thevertical synchronizing signal S_(VSINK1), outputs one frame of the taginformation adding multiplexing data D3 (one frame of the image dataD1A-D1 m) output from one of the output ports 101 _(OUT1)-101 _(OUTn) ofthe demultiplexer 101 to the corresponding image processing parts68A-68D of a subsequent stage as the image data D4A-D4 m only via theinput ports 102 _(IN1)-102 _(INn) of the selector 102 connected to theoutput ports 101 _(OUT1)-101 _(OUTn) and the output ports 102_(OUT1)-102 _(OUTm) connected to the input ports 102 _(IN1)-102 _(INn).

[0137] On the other hand, the controller 103, as is obvious from FIG.15, has an image select register 120 for memory holding the outputselection control information D12, a control active flag register 121for storing the control active flag, an output selection flag register122 in which one bit memory domain 122 ₁-122 _(n) is disposedcorresponding to each of the one bit memory domain 111 ₁-111 _(n) of thedemultiplexer 101, and a tag information storing register 123 fortemporally keeping the tag information D11 provided from the tag reader100.

[0138] The controller 103 is provided with the above-mentioned outputselection control information D12 provided to the controller 73 (FIG. 6)of the multiplexing part 63 of the image transmitting unit 51 (FIG. 5)from the upper controller, so that the controller 103 keeps the outputselection control information D12 in the image select register 120 as atable shown in FIG. 10.

[0139] The controller 103, in the initial condition, controls theselector 102 based on the output selection control information D12 keptin the image select register 120, so that the designated input ports 102_(IN1)-102 _(INn) and output ports 102 _(OUT1)-102 _(OUTm) of theselector 102 are connected.

[0140] In addition, the controller 103 temporally keeps the taginformation D11 provided from the tag reader 100 in the tag informationstoring register 123 at every the tag reader 100's accumulating oneframe of the tag information adding multiplexing data D3 (one frame ofthe image data D1A-D1 m) in the internal frame memory, as well asanalyzes the tag information D11 kept in the tag information storingregister 123 at every arrival of the falling period of the verticalsynchronizing signal S_(VSINK1).

[0141] Then, the controller 103 decides the output ports 101 _(OUT1)-101_(OUTn) of the demultiplexer 101 to which one frame of the taginformation adding multiplexing data D3 (one frame of the image dataD1A-D1 m) is output during the coming rising period of the verticalsynchronizing signal S_(VSINK1), while comparing the connection relationbetween each of the input ports 102 _(IN1)-102 _(INn) and the outputports 102 _(OUT1)-102 _(OUTm) of the selector 102 obtained based on thetag information D11 with the connection relation between each of theinput ports 102 _(IN1)-102 _(INn) and the output ports 102 _(OUT1)-102_(OUTm) of the selector 102 obtained based on the output selectioncontrol information D12 kept in the image select register 120.

[0142] Then, the controller 103, while temporally keeping the flag basedon the decision result in the corresponding one bit memory domain 122₁-122 _(n) of the output selection flag register 122 during the fallingperiod of the vertical synchronizing signal S_(VSINK1), stores the flagin the corresponding one bit memory domain 111 ₁-111 _(n) of the switchmemory 111 of the demultiplexer 101 corresponding to the one bit memorydomain 122 ₁-122 _(n) in which the flag is stored immediately after thestart-up of the next rising period of the vertical synchronizing signalS_(VSINK1), and controls the tag reader to output one frame of the taginformation adding multiplexing data D3 (one frame of the image dataD1A-D1 m) presently accumulated, so that one frame of the taginformation adding multiplexing data D3 is output from the output ports101 _(OUT1)-101 _(OUTn) decided by the demultiplexer 101.

[0143] Furthermore, when a command to update the output selectioncontrol information D12 and the corresponding new output selectioncontrol information D12 are provided from the upper controller, thecontroller 103 stores the control active flag into the control activeflag register 121 as well as updates the output selection controlinformation D12 kept in the image select register 120 to the new outputselection control information D12.

[0144] Then, the controller 103 controls the selector 102 based on thenew output selection control information D12 stored in the image selectregister 120, corresponding to the control active flag's being stored inthe control active flag register 121 during the following falling periodof the vertical synchronizing signal S_(VSINK1), so that the controller103 connects each of the designated input ports 102 _(IN1)-102 _(INn)and the output ports 102 _(OUT1)-102 _(OUTm) of the selector 102 andcontrols the tag reader 100 and the demultiplexer 101 based on the newoutput selection control information D12 in the same manner asabove-mentioned.

[0145] (2-3-2) Restoration Processing Procedure

[0146] Here, a series of the above-mentioned processing of thecontroller 103 are conducted by following the restoration processingprocedure RT2 shown in FIG. 16.

[0147] In actually, the controller 103, in the initial condition,controls the selector 102 based on the output selection controlinformation D12 from the upper controller, so that the controller 103starts the restoration processing procedure RT2 at step SP20 afterconnecting each of the designated input ports 102 _(1N1)-102 _(INn) andthe output ports 102 _(OUT1)-102 _(OUTm) of the selector 102, monitorsthe above-mentioned vertical synchronizing signal S_(VSINK1) at thefollowing step SP21, and waits for the detection of the rising edge orthe falling edge of vertical synchronizing signal S_(VSINK1).

[0148] Then, when a positive result at the arrival of the rising orfalling edge of the vertical synchronizing signal S_(VSINK1) is got atstep SP21, the controller 103 goes to step SP22 and judges whether theedge is the rising edge or not.

[0149] Following above, the controller 103 goes to step SP23 with anegative result at SP22, then, at steps SP23-SP27, decides the outputports 101 _(OUT1)-101 _(OUTn) of the demultiplexer 101 to which oneframe of the tag information adding multiplexing data D3 (one frame ofthe image data D1A-D1 m) is output during the coming rising period ofthe vertical synchronizing signal S_(VSINK1) as well as executes varioustypes of processing based on the decision result.

[0150] In other words, the controller 103 at step SP23 judges whetherthe control active flag is stored in the control active flag register121 (FIG. 15) or not, then goes to step SP26 with a negative result.

[0151] On the other hand, the controller 103 goes to step SP24 with apositive result at step SP23 and controls the selector 102 based on thenew output selection control information D12 stored in the image selectregister 120 (FIG. 15), so that each of the designated input ports 102_(IN1)-102 _(INn) and the output ports 102 _(OUT1)-102 _(OUTm) of theselector 102 are connected, and the control active flag stored in thecontrol active flag register 121 is reset at the following step SP25,then the controller 103 goes to step SP26.

[0152] Then the controller 103, at step SP26, analyzes the taginformation D11 stored in the tag information storing register 123 (FIG.15) as well as updates the present tag information D11 to the new taginformation D11 provided from the tag reader 100 in the mean time.

[0153] Furthermore, the controller 103 goes to step SP27, decides theoutput ports 101 _(OUT1)-101 _(OUTn) of the demultiplexer 101 to whichone frame of the tag information adding multiplexing data D3 (one frameof the image data D1A-D1 m) during the coming rising period of thevertical synchronizing signal S_(VSINK1) based on the analysis result ofthe tag information D11 at step SP26 and the output selection controlinformation D12 stored in the image select register 120, and stores theflag in the one bit memory domain 122 ₁-122 _(n) of the output selectionflag register 122 corresponding to the output ports 101 _(OUT1)-101_(OUTn) based on the decision result, then goes back to step SP21.

[0154] Then, the controller 103 goes to step SP28 through step SP22 withthe detection of the rising edge of the vertical synchronizing signalS_(VSINK1) at step SP21, and stores the flag in the one bit memorydomain 111 ₁-111 _(n) of the switch memory 111 of the demultiplexer 101corresponding to the one bit memory domain 122 ₁- 122 _(n) in which theflag is stored in the output selection flag register 122.

[0155] Furthermore, the controller 103 resets the flag in the outputselection flag register 122 at the following step SP29, then goes backto step SP21 and repeats the processing same as above-mentioned.

[0156] As described above, the controller 103 controls the tag reader100, the demultiplexer 101, and the selector 102 based on the taginformation D11 embedded in the tag information adding multiplexing dataD3 and the output selection control information D12 provided from theupper controller, so that each one frame of the image data D1A-D1 mcomprising the tag information adding multiplexing data D3 is allocatedfor each channel.

[0157] (3) Operation and Effect of this Embodiment

[0158] In the above construction, the image transmission system 60 ofthe robot 1 at the image transmitting unit 51, multiplexes the imagedata D1A-D1 m of the multiple channels to be input with switching thechannels by frame and adds the tag information D11 to each frame of themultiplexed image data D1A-D1 m, while at the image receiving unit 61,the image transmission system 60 of the robot 1 analyzes the taginformation D11 added to each frame of the image data D1A-D1 mtransmitted from the image transmitting unit 51 and outputs themultiplexed image data D1A-D1 m transmitted from the image transmittingunit 51 with dividing by frame to the corresponding channel.

[0159] Subsequently, in this image transmission system 60, since theimage data D1A-D1 m of the multiple channels can be transmitted viasingle transmission line without format modification, no additionalwiring is required to increase the image data D1A-D1 m to be input tothe image transmitting unit 51, which makes such increase easy.

[0160] Furthermore, in this image transmission system 60, the outputratio of the image data D1A-D1 m for each of the channels can bespecifically configured since the output frequency to be used when thecontroller 73 of the multiplexing part 63 (FIG. 7) of the imagetransmitting unit 51 decides the channel to be output next is configuredto be shown as the number of the output frames of the channel for thenumber of the input frames of the image data D1A of the standard channelas above described. In addition, in this image transmission system 60,the ratio of the output of the other channels for the standard channelcan be guaranteed since the output of the image data D1A-D1 m of each ofthe channels are controlled based on the output frequency as describedin FIGS. 11 and 12.

[0161] In the above construction, the image transmitting unit 51multiplexes the image data D1A-D1 m of the multiple channels to be inputwith switching the channels by frame and adds the tag information D11 toeach frame of the multiplexed image data D1A-D1 m, while the imagereceiving unit 61 analyzes the tag information D11 added to each frameof the image data D1A-D1 m transmitted from the image transmitting unit51 and outputs the multiplexed image data D1A-D1 m transmitted from theimage transmitting unit 51 with dividing by frame to the correspondingchannel, so that the image data D1A-D1 m of the multiple channels can betransmitted via single transmission line without format modification.Therefore, an image transmission system which is capable of efficientlytransmitting the image data D1A-D1 m of multiple channels can berealized by using the existing system formed on the premise oftransmitting and receiving the image data through a single transmissionline.

[0162] (4) Other Embodiments

[0163] In the above embodiment, the present invention is applied to therobot 1 so configured as shown in FIGS. 1-5, however, this invention isnot limited to the above embodiment, and can be applied to various typesof robot apparatus, and can be widely applied to, other than robotapparatus, various image transmission devices, transmitting devices, orreceiving devices which are configured to transmit image data ofmultiple channels.

[0164] Furthermore, in the above embodiment, the multiplexer 71 and thecontroller 73 are constructed, as shown in FIG. 7, as the multiplexingmeans for multiplexing the image data D1A-D1 m of multiple channels tobe input with switching the channels by frame in the multiplexing part63 of the image transmitting unit 51, however, the present invention isnot limited to the above embodiment, and can be applied to variousconstructions.

[0165] Still further, in the above embodiment, in the multiplexing part63 of the image transmitting unit 51, the tag encoder 72 as an imageinformation adding means for adding the tag information D11 (imageinformation) to each of the image data D1A-D1 m for each framemultiplexed by the multiplexer 71, as shown in FIG. 8, embeds the dataof the tag information D11 at the four continuing pixel positions at thebottom of the left edge in the image. However, this invention is notlimited to the above embodiment, and the tag information D11 can beembedded in other positions and can be added to the image data D1A-D1 mby other methods. Also, for example in existing text broadcasting, thetag information D11 can be superposed on a vertical retrace line periodportion of the image data D1A-D1 m.

[0166] In addition, in the above embodiment, in the restoring part 67 ofthe image receiving unit 61, the controller 103 as an analyzing meansfor analyzing the tag information D11 added to each of the image dataD1A-D1 m for each frame transmitted from the image transmitting unit 51controls the demultiplexer 101 and the selector 102 based on the taginformation and the output selection control information provided fromthe upper controller. However, the present invention is not limited tothe above embodiment, and for example, the demultiplexer 101 and theselector 102 can be controlled based only on the tag information D11read from the image data D1A-D1 m.

[0167] Furthermore, in the above embodiment, in the restoring part 67 ofthe image receiving unit 61, the dividing means for dividing by frameand outputting each of the image data D1A-D1 m for each frametransmitted from the image transmitting unit 51 to the correspondingchannels is comprised of the demultiplexer 101 the selector 102, and thecontroller 103 so configured as FIG. 15, however, the present inventionis not limited to the above embodiment, and can be applied to variousconstructions.

[0168] While there has been described in connection with the preferredembodiments of the invention, it will be obvious to those skilled in theart that various changes and modifications may be aimed, therefore, tocover in the appended claims all such changes and modifications as fallwithin the true spirit and scope of the invention.

What is claimed is:
 1. An image transmission device transmitting imagedata of multiple channels, comprising: transmitting means formultiplexing and transmitting said image data of each said channel; andreceiving means for dividing and outputting said image data multiplexedby and transmitted from said transmitting means into corresponding saidchannels, wherein: said transmitting means comprises multiplexing meansfor multiplexing said image data of each said channel to be input withswitching said channels by frame, and image information adding means foradding prescribed image information to said image data of each saidframe multiplexed by said multiplexing means; and said receiving meanscomprises analyzing means for analyzing said image information added tosaid image data of each said frame transmitted from said transmittingmeans, and dividing means for dividing for each said frame andoutputting said multiplexed image data transmitted from saidtransmitting means into corresponding said channels based on analysisresult of said analyzing means.
 2. The image transmission deviceaccording to claim 1, wherein said multiplexing means of saidtransmitting means multiplexes, based on control information prescribedof previously provided said channels to be transmitted and outputfrequency comprised of frequency for each said channel to be transmittedat, said image data of said each prescribed channel with switching saidchannels by frame by synchronizing with prescribed frame synchronizationsignal.
 3. The image transmission device according to claim 2, whereinsaid output frequency represents the number of output frames of saidchannels for the number of input frames of said image data of saidchannels being a standard.
 4. The image transmission device according toclaim 1, wherein said dividing means of said receiving means decideschannels to be output of said multiplexed image data transmitted fromsaid transmitting means for each said frame based on analysis result ofsaid analyzing means, and divides said multiplexed image data for eachsaid frame by synchronizing with prescribed frame synchronization signalbased on said decision result.
 5. An image transmission methodtransmitting image data of multiple channels, comprising: a first stepfor multiplexing and transmitting said image data of each said channelat a transmitting side; and a second step for dividing and outputtingsaid image data multiplexed by and transmitted from said transmittingside into corresponding said channels at a receiving side, wherein: saidfirst step comprises a multiplexing step for multiplexing said imagedata of each said channel to be input with switching said channels byframe, and an image information adding step for adding prescribed imageinformation to said image data of each said frame multiplexed by saidmultiplexing step; and said second step comprises an analyzing step foranalyzing said image information added to said image data of each saidframe transmitted from said transmitting side, and a dividing step fordividing for each said frame and outputting said multiplexed image datatransmitted from said transmitting side into corresponding said channelsbased on analysis result of said analyzing step.
 6. The imagetransmission method according to claim 5, wherein said multiplexing stepof said first step multiplexes, based on control information prescribedof previously provided said channels to be transmitted and outputfrequency comprised of frequency for each said channel to be transmittedat, said image data of said each prescribed channel with switching saidchannels by frame by synchronizing with prescribed frame synchronizationsignal.
 7. The image transmission method according to claim 6, whereinsaid output frequency represents the number of output frames of saidchannels for the number of input frames of said image data of saidchannels being a standard.
 8. The image transmission method according toclaim 5, wherein said dividing step of said second step decides channelsto be output of said multiplexed image data transmitted from saidtransmitting side for each said frame based on analysis result of saidanalyzing step, and divides said multiplexed image data for each saidframe by synchronizing with prescribed frame synchronization signalbased on said decision result.
 9. A transmitting device multiplexing andtransmitting image data of multiple channels, comprising: multiplexingmeans for multiplexing said image data of each said channel to be inputwith switching said channels by frame; and image information addingmeans for adding prescribed image information to said image data of eachsaid frame multiplexed by said multiplexing means.
 10. The transmittingdevice according to claim 9, wherein said multiplexing meansmultiplexes, based on control information prescribed of previouslyprovided said channels to be transmitted and output frequency comprisedof frequency for each said channel to be transmitted at, said image dataof said each prescribed channel with switching said channels by frame bysynchronizing with prescribed frame synchronization signal.
 11. Thetransmitting device according to claim 10, wherein said output frequencyrepresents the number of output frames of said channels for the numberof input frames of said image data of said channels being a standard.12. A transmitting method multiplexing and transmitting image data ofmultiple channels, comprising: a multiplexing step for multiplexing saidimage data of each said channel to be input with switching said channelsby frame; and an image information adding step for adding prescribedimage information to said image data of each said frame multiplexed bysaid multiplexing step.
 13. The transmitting method according to claim12, wherein said multiplexing step multiplexes, based on controlinformation prescribed of previously provided said channels to betransmitted and output frequency comprised of frequency for each saidchannel to be transmitted at, said image data of said each prescribedchannel with switching said channels by frame by synchronizing withprescribed frame synchronization signal.
 14. The transmitting methodaccording to claim 13, wherein said output frequency represents thenumber of output frames of said channels for the number of input framesof said image data of said channels being a standard.
 15. A receivingdevice receiving image data of multiple channels multiplexed by andtransmitted from a transmitting side, comprising: analyzing means foranalyzing prescribed image information added to said each frame of saidimage data multiplexed with switching said channels by frame transmittedfrom said transmitting side; and dividing means for dividing for eachsaid frame and outputting said multiplexed image data transmitted fromsaid transmitting side into corresponding said channels based onanalysis result of said analyzing means.
 16. The receiving deviceaccording to claim 15, wherein said dividing means decides channels tobe output of said multiplexed image data transmitted from saidtransmitting side for each said frame based on analysis result of saidanalyzing means, and divides said multiplexed image data for each saidframe by synchronizing with prescribed frame synchronization signalbased on said decision result.
 17. A receiving method receiving imagedata of multiple channels multiplexed by and transmitted from atransmitting side, comprising: an analyzing step for analyzingprescribed image information added to said each frame of said image datamultiplexed with switching said channels by frame transmitted from saidtransmitting side; and a dividing step for dividing for each said frameand outputting said multiplexed image data transmitted from saidtransmitting side into corresponding said channels based on analysisresult of said analyzing step.
 18. The receiving method according toclaim 17, wherein said dividing step decides channels to be output ofsaid multiplexed image data transmitted from said transmitting side foreach said frame based on analysis result of said analyzing step, anddivides said multiplexed image data for each said frame by synchronizingwith prescribed frame synchronization signal based on said decisionresult.
 19. Robot apparatus comprising an image transmission devicetransmitting image data of multiple channels, wherein said imagetransmission device comprises transmitting means for multiplexing andtransmitting said image data of each said channel, and receiving meansfor dividing and outputting said image data multiplexed by andtransmitted from said transmitting means into corresponding saidchannels, wherein: said transmitting means comprises multiplexing meansfor multiplexing said image data of each said channel to be input withswitching said channels by frame, and image information adding means foradding prescribed image information to said image data of each saidframe multiplexed by said multiplexing means; and said receiving meanscomprises analyzing means for analyzing said image information added tosaid image data of each said frame transmitted from said transmittingmeans, and dividing means for dividing for each said frame andoutputting said multiplexed image data transmitted from saidtransmitting means into corresponding said channels based on analysisresult of said analyzing means.
 20. The robot apparatus according toclaim 19, wherein said multiplexing means of said transmitting meansmultiplexes, based on control information prescribed of previouslyprovided said channels to be transmitted and output frequency comprisedof frequency for each said channel to be transmitted at, said image dataof said each prescribed channel with switching said channels by frame bysynchronizing with prescribed frame synchronization signal.
 21. Therobot apparatus according to claim 20, wherein said output frequencyrepresents the number of output frames of said channels for the numberof input frames of said image data of said channels being a standard.22. The robot apparatus to claim 19, wherein said dividing means of saidreceiving means decides channels to be output of said multiplexed imagedata transmitted from said transmitting means for each said frame basedon analysis result of said analyzing means, and divides said multiplexedimage data for each said frame by synchronizing with prescribed framesynchronization signal based on said decision result.